diff --git a/.gitattributes b/.gitattributes
index d15b53a7876efbd5b143b398a4168aa1e67563ee..4324e65616079d33dd26a75175831e0efa4d6917 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -4591,3 +4591,6 @@ dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/bottle_opener
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/mjcf/mesh/bottle_opener_009.obj filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.urdf b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9cc406ac33de3f3e51aa9ece89eec8fc7be77ee9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pepper_grinder">
+   <link name="pepper_grinder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pepper_grinder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pepper_grinder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>pepper grinder</category>
+         <description>red wooden pepper grinder with rounded top and base</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120024352</generate_time>
+         <gs_model>mesh/pepper_grinder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.879123687744141</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.usd b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9594ab1330b116c7bc182b2351089e99341ab176
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/c58b059579835beba6def1bac0bc5872.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42b81adfb96c9e6bdd7b7c7cac04e73025f63aa76ecfdd9c80bb4a3893bdd042
+size 1037956
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/material.mtl b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/material_0.png b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a480e289cb11bb7d9571a7d9cb31c277bcb87145
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9de3607d178d654ccdb4916a4fcdf20a001f1dd7a4f1dd677d6a1be9294405b
+size 1829495
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.glb b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..70237e1db046ceb20fd49017d628b5339ff3cf5f
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d380edf932641296b9461f71a302ec9177375cb26a10eacce0642662865294
+size 2531220
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d077002037c4b6e8594a50b17ceace0315cfa9
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder.obj
@@ -0,0 +1,64176 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ffa55b0503eca36f6922dbe84816d381b37862
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_collision.obj
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_gs.ply b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..25d09dd9125fbec607a9d11f128566f88e4ca785
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mesh/pepper_grinder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19acd22e768010ea06de0632530b0a78b1ae44bcbf2270ae14ce043374a7cf8c
+size 2241257
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/c58b059579835beba6def1bac0bc5872.xml b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/c58b059579835beba6def1bac0bc5872.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f6a30465361c1d65f4412e224e4949c82da44095
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/c58b059579835beba6def1bac0bc5872.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pepper_grinder">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pepper_grinder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pepper_grinder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pepper_grinder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pepper_grinder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pepper_grinder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pepper_grinder_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pepper_grinder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pepper_grinder">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a480e289cb11bb7d9571a7d9cb31c277bcb87145
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9de3607d178d654ccdb4916a4fcdf20a001f1dd7a4f1dd677d6a1be9294405b
+size 1829495
diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdf54b22309bc844d153aedb242b3f9e86cc035
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder.obj
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d6b2131e19baade30975f80cc9ec799c4d64a11
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision.obj
@@ -0,0 +1,13448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_0.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797935372686035659deb2f2e419239198c16b28
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_0.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_1.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138652a605af71686320818f1124aa293a1d250e
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_1.obj
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_2.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74c54f4c0ff0abf59a60f41f2d647d25c989ed6
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_2.obj
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_3.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c4b837e63882b0107cb21aecdb4bd60ef9c0364
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_3.obj
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_4.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0903c5dff9b1ba80665c74d7b2cb3059d1751a
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_4.obj
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diff --git a/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_5.obj b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe2c19e94e129d81e070387e3ad16b99cc0ad1d
--- /dev/null
+++ b/dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/mjcf/mesh/pepper_grinder_collision_5.obj
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